Separable robotic interface

ABSTRACT

A separable robotic interface includes a carrier portion, configured to attach to a free end of a robotic arm, and a probe portion, configured to be attached to a toolhead. The carrier portion includes a spring-loaded plug, coaxial with and arranged to slide lengthwise within the carrier portion, one or more ball bearings, arranged within holes of the carrier portion, and an axial lock feature. The probe portion may include a probe, which includes one or more recesses on lateral exterior surfaces of the probe and configured to receive ball bearings in order to axially lock the carrier portion to the probe portion in response to the probe portion inserted a predetermined distance into the carrier portion and the axial lock feature is activated. The probe portion is further configured to radially align with the carrier portion in response to an alignment feature engages the carrier portion.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority from Provisional U.S. application62/720,285, filed Aug. 21, 2018, entitled SEPARABLE SPACECRAFTINTERFACE, which is hereby incorporated by reference for all purposes.

FIELD

The present invention is directed to separable robotic interfaces. Inparticular, the present invention is directed to methods and apparatusesfor providing separable robotic toolheads for securing tools,components, or materials to robotic manipulators.

BACKGROUND

Robotic arms have been in existence for several decades. Many industriesutilize robotic arms to speed production, improve product assemblyquality, and manipulate hazardous objects and materials. Most roboticarms in the world are designed for heavy or repetitive manufacturingwork, and handle tasks that are difficult, dangerous, or boring to humanbeings. A typical robotic arm is controlled by a computer by activatingindividual stepper motors or actuators connected at each joint. At aminimum, a robotic arm has a single segment and a joint at each end.Robotic arms often use motion sensors to regulate movement in preciseincrements.

Current technology robotic arms utilize capture heads incorporatingmechanical grippers, where mechanical force between two or more surfacesare used to positively capture and move objects. Mechanical grippers aresuitable to capture known objects of predictable size, shape, andorientation, and having robust attachment surfaces.

SUMMARY

The present invention is directed to solving disadvantages of the priorart. In accordance with embodiments of the present invention, aseparable robotic interface is provided. The separable robotic interfaceincludes a carrier portion, configured to attach to a free end of arobotic arm, and a probe portion, configured to be attached to atoolhead. The carrier portion includes a spring-loaded plug, coaxialwith and arranged to slide lengthwise within the carrier portion, one ormore ball bearings, arranged within holes of the carrier portion, and anaxial lock feature. The probe portion may include a probe, whichincludes one or more recesses on lateral exterior surfaces of the probeand configured to receive the ball bearings in order to axially lock thecarrier portion to the probe portion in response to the probe portioninserted a predetermined distance into the carrier portion and the axiallock feature is activated. The probe portion is further configured toradially align with the carrier portion in response to an alignmentfeature engages the carrier portion.

In accordance with another embodiment of the present invention, a methodis provided. The method includes one or more of axially aligning acarrier portion of a separable robotic interface with a probe portion,sliding the carrier portion over the probe portion in response toradially orienting a first alignment feature between the probe portionand the carrier portion, seating the one or more ball bearings intomatching recesses in an outer surface of the probe portion in responseto sliding the carrier portion over the probe portion a predetermineddistance, and rotating a locking ring of the carrier portion to axiallylock the carrier portion to the probe portion. In response to slidingthe carrier portion over the probe portion, the method further includescompressing, by the probe portion, a spring-loaded plug in the carrierportion to release the one or more ball bearings to make contact withthe outer surface of the probe portion. The plug is radially coupled tothe carrier portion through a second alignment feature, and the carrierportion is coupled to a free end of a robotic arm.

In accordance with yet another embodiment of the present invention, amethod is provided. The method includes one or more of moving, by arobotic arm, a separable robotic interface controlled by the robotic arminto proximity with a fixture. The separable robotic interface includesa carrier portion axially and radially locked to a probe portion. Themethod also includes rotating a radial locking tab of the carrierportion to align with a projection of the fixture, sliding the probeportion into the fixture, and in response depressing the radial lockingtab by the projection to radially unlock the carrier portion. The methodfurther includes rotating a locking ring of the carrier portion, and inresponse relieving pressure on one or more ball bearings in matchingrecesses of an outer surface of the probe portion and axially unlockingthe carrier portion from the probe portion. Finally, the method includesremoving, by the robotic arm, the carrier portion from the probeportion. The fixture axially captures the probe portion.

An advantage of the present invention is that it provides a standardinterface for various types of robotic end effectors. A standardinterface makes it easier for competing hardware developers to createfamilies of robotic end effectors that may utilize the same interface.Thus, a large selection of robotic tools may be available for each suchsocket.

Another advantage of the present invention is it provides a common mountproviding both a secure interface for tool mounting while allowing toolchanging or replacement without requiring human servicing orintervention.

Another advantage of the present invention is it provides a lockingmechanism that provides for secure locking of the two portions of theseparable robotic interface without requiring human servicing orintervention.

Another advantage of the present invention is that in some embodimentsit provides for power and/or data connections through the separablerobotic interface. No electrical connections are made until a probecomponent is seated within a capture assembly. Power and dataconnections allow use of robotic end effectors that may include variousforms of cameras, active or passive sensors, or actuated (i.e. power)tools.

Another advantage of the present invention is when mounted with atool/probe, the separable robotic interface has a radial lockingmechanism that resists rotational forces transmitted back through atoolhead towards the robotic arm. Without the rotational lock, thetool/probe may become dislodged during normal use.

Additional features and advantages of embodiments of the presentinvention will become more readily apparent from the followingdescription, particularly when taken together with the accompanyingdrawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating a robotic arm system in accordance withembodiments of the present invention.

FIG. 2 is a diagram illustrating an exploded view of a separable roboticinterface in accordance with embodiments of the present invention.

FIG. 3 is a diagram illustrating a carrier portion of an interface to arobotic arm in accordance with embodiments of the present invention.

FIG. 4 is a diagram illustrating ball bearing fit and position to theprobe in accordance with embodiments of the present invention.

FIG. 5 is a diagram illustrating a probe and plug fit to a carrier inaccordance with embodiments of the present invention.

FIG. 6A is a diagram illustrating a locking ring in a locked dispositionin accordance with embodiments of the present invention.

FIG. 6B is a diagram illustrating a locking ring in an unlockeddisposition in accordance with embodiments of the present invention.

FIG. 7 is a diagram illustrating a radial locking system in accordancewith embodiments of the present invention.

FIG. 8 is a diagram illustrating a fixture interface to the separablerobotic interface in accordance with embodiments of the presentinvention.

FIG. 9 is an illustration depicting a toolhead assembly to a fixture inaccordance with embodiments of the present invention.

FIG. 10 is an illustration depicting axially aligning a carrier portionwith a probe portion in accordance with embodiments of the presentinvention.

FIG. 11 is a diagram illustrating a carrier portion engaging a probeportion

in accordance with a first embodiment of the present invention.

FIG. 12 is a diagram illustrating axial and radial locking in accordancewith a second embodiment of the present invention.

FIG. 13 is a diagram illustrating removing a toolhead and separableinterface from a fixture in accordance with embodiments of the presentinvention.

FIG. 14 is a flowchart illustrating a separable interface mating processin accordance with embodiments of the present invention.

FIG. 15 is a flowchart illustrating a separable interface unmatingprocess in accordance with embodiments of the present invention.

DETAILED DESCRIPTION

Robotic arms may be used for manipulation of various forms, sizes, andorientations of objects of varying complexity and materials. Roboticarms may capture or act upon objects within direct visual distance of arobot operator. In some cases, a robotic arm may need to performmultiple different operations on an object—including but not limited tograsping, moving, inspection, and modifications. Each of these differentoperations may require a different end effector or tool, and it may benecessary to remove a current toolhead prior to installing anothertoolhead.

Certain environments may provide additional difficulty to changing endeffectors or tools. For example, a space environment may require a humanoperator or maintenance personnel wearing a pressurized suit to changetoolheads. Certain environments may be severely space-limited to changetoolheads. Yet other environments may require high operatingtemperatures, high radiation levels, the presence of caustic or toxicgases or chemicals, or biologic dangers that discourages humaninvolvement in changing toolheads.

The present application describes a separable interface for robotictoolheads. The separable robotic interface may be used to securely holdtools and/or components or materials in a robotic tool environment inorder to easily and rapidly make toolhead changes without the need forhuman intervention. The separable interface also allows changingtoolheads without requiring tools.

Referring now to FIG. 1 , a diagram illustrating a robotic arm system100 in accordance with embodiments of the present invention is shown.The robotic arm system 100 is generally characterized as a multi-segmentrobotic arm 104, where one end is a static end 116A fixed to a structureand the other end is a free end 116B that is able to be actuated andmoved under operator or computer control. The structure supporting thestatic end may be a floor of a building, a wall, a ceiling, or a vehicleof some sort. In some embodiments, the vehicle may be a spacecraft, anaircraft, a ground-based vehicle, or a watercraft. In some embodiments,the static end of the robotic arm 116A may be relocated and/orrepositioned for various purposes.

The free end of the robotic arm 116B is coupled to a separable roboticinterface 112 that provides for tool-free replacement of any number ofinterchangeable toolheads 120, including a currently installed toolhead108. Toolheads 108, 120 may include any number or type of functions, andmay perform one or more of grasping, object capture, material movement,fluid or gas transfer, or any forms of sensors/sensing. In oneembodiment, a toolhead may include a coupling fixture to attach to asame or different structure than the static end of the robotic arm 116A.Toolheads 108, 120 may include inert and non-actuated toolheads such asa hammer, a chisel, or a suction cup. Toolheads 108, 120 may alsoinclude actuated toolheads such as a drill, an actuated gripper, areciprocating saw, or an independently movable sensor. Actuation may beby electrical power, hydraulic fluid, compressed gas, mechanical forcetransfer (e.g., torque), magnetic force, or any other means providedthrough a functional interface 124 as further described herein.

Referring now to FIG. 2 , a diagram illustrating an exploded view of aseparable robotic interface 112 in accordance with embodiments of thepresent invention is shown. FIG. 2 illustrates the principal componentsof the separable robotic interface 112, according to the preferredembodiment. The separable robotic interface 112 permits tool-freereplacement of any of various toolheads 108, including toolhead 108replacements without human intervention. The separable robotic interface112 includes two parts: a carrier portion 204 and a probe portion 260.Preferred materials may depend on the task to be performed. In oneembodiment, the carrier portion 204 and the probe portion 260 may be 3Dprinted plastics or metals or machined aluminum or steel. In oneembodiment, most components may be machined aluminum and the carrier 232may be machined Teflon. Selection of materials may reasonably bedetermined by one of ordinary skill in the art according to knownmechanical, environmental, and purpose criteria.

One end of the carrier portion 204 is coupled to the free end of therobotic arm 116B. In most embodiments, the carrier portion 204 isgenerally semi-permanently attached to the free end of the robotic arm116B, and conventional fasteners known in the art may be used to providethe attachment. In other embodiments, the carrier portion 204 mayutilize some form of quick-attach/detach fasteners to allow for rapidcarrier coupling/uncoupling. Such a quick attach/detach mechanism mayincorporate a twist-lock or similar type of feature. The opposite end ofthe carrier portion 204 is configured to be coupled to the probe portion260, as described herein.

One end of the probe portion 260 in most embodiments is coupled to atoolhead 108. Each probe portion 260 provides a standardized interfaceto interchangeable toolheads 120. The present application is able to usemany different toolheads 108, 120 with the same carrier portion 204 androbotic arm 104. Thus, a given robotic arm 104/carrier portion 204 mayselect one toolhead 108 from many interchangeable toolheads 120,depending on the task and toolhead 108, 120 availability. One mayimagine a “tool crib” in proximity to the robotic arm 104, wheretoolheads 108 may be selected based on task and an order of need. In thepreferred embodiment, each toolhead 108, 120 may be semi-permanentlyattached to its own probe portion 260. “Semi-permanently” because it maybe necessary to separate toolheads 108, 120 from probe portions 260 inorder to facilitate upgrade or maintenance to either toolheads 108, 120or a probe portion 260.

Each carrier portion 204 may include an end cap 244, a lock tab retainer208, a radial locking tab 212, a radial lock 216, a plug spring 220, aplug 224, a shroud 228, a carrier 232, a locking ring 236, and a nosering 240. The carrier portion 204 may also include one or more ballbearings 408 as described herein, plus other springs and fasteners notdescribed in detail.

The end cap 244 provides a bearing surface to mate with the free end ofthe robotic arm 116B, and to support the lock tab retainer 208 and theplug spring 220. In most embodiments, conventional fasteners directlyattach the end cap 244 to the free end of the robotic arm 116B. Forseparable robotic interfaces 112 that support an optional functionalinterface 124, the end cap 244 must also support whatever cables, pipes,circuit boards, or other types of connections required byinterchangeable toolheads 120. For example, a functional interface 124supporting a powered optical sensor toolhead 108 may require one or morepower and data connections, where the data connections may include anoptical cable. The functional interface 124 may be optional, and is notshown in FIG. 2 for mechanical clarity.

The lock tab retainer 208 is rigidly attached to the end cap 244, androtates with the end cap 244 when the free end of the robotic arm 116Brotates. The lock tab retainer 208 receives the radial locking tab 212,but allows the radial locking tab 212 to move a limited amount laterallyunder spring pressure (not shown). This operation is described in moredetail with respect to FIG. 7 . The radial lock 216 is rigidly coupledto the radial locking tab 212, and radially locks or unlocks the carrierportion 204 in response to lateral radial locking tab 212 movement.

The plug spring 220 is supported on one end by the end cap 244 and theother end by the plug 224. When the carrier portion 204 is not coupledto the probe portion 260, the plug spring 220 is mostly unloaded, andmay be slightly in compression to exert a small amount of force on theplug 224 to keep the plug 224 extended toward the nose ring 240 andmaintain the ball bearings 316 within the retaining holes 308. In oneembodiment, the plug spring 220 exerts 2 lbs of spring force, andrequires less than a pound of opposing force to compress the plug 224.The plug spring 220 passes through the lock tab retainer 208 and theradial locking tab 212.

The shroud 228 provides an outer cover to protect the carrier 232, plug224, and plug spring 220. The shroud 228 is rigidly attached to the locktab retainer 208 and end cap 244. The carrier 232 is disposed centrallywithin the shroud 228, and provides ball bearings 408 for the axiallocking mechanism, which locks the carrier portion 204 to the probeportion 260.

The locking ring 236 surrounds the carrier 232, and rotates bothclockwise and counterclockwise in order to control movement of the ballbearings 408 and axially lock and unlock the carrier portion 204 to/fromthe probe portion 260. In one embodiment, the robotic arm 104 includes afeature to rotate the locking ring 236 under either operator or computercontrol. Operation of the locking ring 236, carrier 232, and ballbearings 408 is described in more detail with respect to FIGS. 4, 5, 6A,and 6B.

The nose ring 240 is rigidly coupled to the shroud 228 (and thereforealso to the lock tab retainer 208 and end cap 244). The nose ring 240provides a bearing surface to the probe portion 260, and mechanicallyisolates the rotating locking ring 236 from the probe portion 260.

The probe portion 260 may be simpler than the carrier portion 204, inorder to allow for production of more probe portions 260 to be semi orpermanently affixed to toolheads 108, 120. Probe portion 260 includestwo components (not including fasteners): a probe 252 and a common mount248. The probe 252 fits within the carrier 232, and receives the ballbearings 408 to axially couple the carrier portion 204 to the probeportion 260. In the preferred embodiment, the slope of the recesses 404may be designed to pull the probe 252 into a tightly coupled arrangementwithin the carrier 232 as the ball bearings 316 are pressed into therecesses 404 by the locking ring 236. For separable robotic interfaces112 that support an optional functional interface 124, the probe 252must also support whatever cables, pipes, or other types of connectionsare required by interchangeable toolheads 120.

The probe 252 is rigidly coupled to the common mount 248, and rotates inconcert with the common mount 248. The common mount 248 provides astandard interface with the toolhead 108 or interchangeable toolheads120. In one embodiment, the probe 252 may be integrated with the commonmount 248 in a common part. In the preferred embodiment, the commonmount 248 may include two or more flats or other features that allow theprobe portion 260 to be captured within a fixture 804. This may allow aprobe portion 260 (with or without a toolhead 108) to be positionedwithin the fixture 804 by a human operator in preparation for toolhead108 mounting to a robotic arm 104. Because the probe portion 260 issimpler and has fewer components than the carrier portion 204, the probeportion 260 may be less expensive to manufacture and obtain.Advantageously, this may allow more toolheads 108, 120 to be mounted toprobe portions 260 to facilitate rapid tool changing. The bolt patternfor the common mount 248 in some embodiments may include a UR-3(Universal Robotics) bolt pattern so that any tools designed for auniversal robot series (UR-3 thru UR-5) may be directly mounted and usedwith the separable robotic interface 112.

In one embodiment, the separable robotic interface 112 may have anominal diameter of 8.5 centimeters (cm) with a combined length of 9.0cm (including common mount 248 and probe 252) to the proximal face of acapture assembly. The separable robotic interface 112 may be scaled downto a smaller size having an outside diameter of <2.50 cm and scaled upfor heavy industrial uses to a diameter of >40.0 cm. In someembodiments, the diameter may vary more than the overall length. Verylarge diameter separable robotic interfaces 112 may be used for on-boardrefueling of ships or to manipulate large objects. In space embodiments,if the distal probe portion 260 is fixed to a panel, the separablerobotic interface 112 may be used to construct space-based structures(both temporary and permanent).

In one embodiment, the separable robotic interface may be manufacturedfrom 6061 aluminum with an ABS plastic (ABS) carrier 232, steel ballbearings 316, and stainless mounting screws. For large industrialvariants, the body may be manufactured with cast iron or bronze for thecarrier portion 204 and a suitable grade of bolts. For a very smallvariant, the entire unit may be manufactured using plastics.

Referring now to FIG. 3 , a diagram illustrating a carrier portion of aninterface to a robotic arm 300 in accordance with embodiments of thepresent invention is shown. FIG. 3 illustrates an assembled carrierportion 204 about to be mated with the free end of the robotic arm 116B.Visible is the radial locking tab 212, the locking ring 236, a couplingsurface to a probe portion 304, ball bearings 316, and retaining holesfor ball bearings 308. In some embodiments, the free end of the roboticarm 116B may include various components and features to support 312 thefunctional interface 124. For example, functional interface 124 mayinclude any combination of electrical power or data cabling, fluid orgas transfer components, or mechanical actuators. Functional interfacesupport 312 components may be required to operate the range ofinterchangeable toolheads 120 supported by the separable roboticinterface 112.

Referring now to FIG. 4 , a diagram illustrating ball bearing fit andposition to the probe 400 in accordance with embodiments of the presentinvention is shown. The probe 252 fits within the carrier 232. In orderto axially lock the carrier portion 204 to the probe portion 260, one ormore ball bearings 316 are forced into matching recesses 404 on theouter surface of the probe 252.

In the preferred embodiment, the probe 252 may include a hollowed-outportion to accommodate a probe portion of the functional interface 124(i.e. the probe functional interface 408). Functional interfaces 124 mayinclude one or more of electrical power transfer, data transfer, fluidtransfer, gas transfer, mechanical force transfer, or magnetic forcetransfer. In most cases, the functional interface 124 is utilized byactuators or sensors associated with one or more toolheads 108, 120. Inorder to support the functional interface 124, matching pathways need tobe provided through the carrier portion 204, and in most embodiments therobotic arm 104 itself.

Referring now to FIG. 5 , a diagram illustrating a probe and plug fit toa carrier 500 in accordance with embodiments of the present invention isshown. FIG. 5 illustrates the interface between a probe 252, a plug 224,and a carrier 232. When the carrier portion 204 is assembled, the plug224 slides longitudinally within the carrier 232. In the preferredembodiment, the plug 224 does not rotate within the carrier 232 due to aplug alignment pin or feature 508 on an outer surface of the plug 224engaging a matching plug alignment slot 512 in a rear outer portion ofthe carrier 232. The depth of the plug alignment slot 512 regulates amaximum distance the plug 224 may extend forward into the carrier 232.In the preferred embodiment, the depth of the plug alignment slot 512corresponds to a plug 224 position in the carrier 232 whereby the plug224 at least partially covers the ball bearings 316 and retaining holesfor ball bearings 308. Although one plug alignment pin 508 and matchingplug alignment slots 512 are shown in FIG. 5 , it should be understoodthere may be any number of plug alignment pins 508 and plug alignmentslots 512 around the periphery of the plug 224 and carrier 232,respectively.

After the carrier portion 204 is axially aligned with the probe portion260, carrier portion 204 is rotated in order to radially align a probealignment pin 516 of the probe 252 with a probe alignment slot 520 ofthe carrier 232. This ties the rotation of the carrier portion 204 tothe probe portion 260. The depth of the probe alignment slot 520regulates a maximum distance the probe 252 may extend forward into thecarrier 232. In the preferred embodiment, the depth of the probealignment slot 520 corresponds to a probe 252 position in the carrier232 whereby the probe 252 exposes the ball bearings 316 and the ballbearings 316 engage the recesses for ball bearings 404 in the sides ofthe probe 252. Although one probe alignment pin 516 and matching probealignment slots 520 are shown in FIG. 5 , it should be understood theremay be any number of probe alignment pins 516 and probe alignment slots520 around the periphery of the probe 252 and carrier 232, respectively.

The probe 252 in some embodiments includes a probe portion of thefunctional interface 412, and the plug 224 includes a carrier portion ofthe functional interface 504. When the probe 252 mates with the carrier232, the probe functional interface 412 engages the carrier functionalinterface 504, which activates the functional interface 124 allowing foran installed toolhead 108 to utilize supported functionality.

Referring now to FIG. 6A, a diagram illustrating a locking ring in alocked disposition 600 in accordance with embodiments of the presentinvention is shown. The carrier 232 includes a number of retaining holesfor ball bearings 308, which allows ball bearings 316 to move radially(i.e. in and out) of the holes 308 as determined by position of thelocking ring 236. The locking ring 236 includes a number of locking ringrecesses 604 symmetrically distributed on inside surfaces of the lockingring 236. In the preferred embodiment, there are six ball bearings 316,six retaining holes for ball bearings 308, and six locking ring recesses604. In the locked position, the locking ring 236 is turned such thatthe locking ring recesses 604 are not in alignment with the retainingholes for ball bearings 308. This forces the ball bearings 316 towardthe center of the carrier 232, and into the recesses for ball bearings404, when the probe has been fully seated within the carrier 232. In thepreferred embodiment, it is not possible to insert the probe portion 260into the carrier portion 204 when the locking ring 236 is in the lockedposition 600.

Referring now to FIG. 6B, a diagram illustrating a locking ring in anunlocked disposition 620 in accordance with embodiments of the presentinvention is shown. In the unlocked position, the locking ring 236 isturned such that the locking ring recesses 604 are in alignment with theretaining holes for ball bearings 308. This allows the ball bearings 316to move toward the outside of the carrier portion 204, and into thelocking ring recesses 604. In the preferred embodiment, it is possibleto insert the probe portion 260 into the carrier portion 204 when thelocking ring 236 is in the unlocked position 620.

Referring now to FIG. 7 , a diagram illustrating a radial locking system700 in accordance with embodiments of the present invention is shown.The radial locking system 700 includes the end cap 244, the lock tabretainer 208, the radial locking tab 212, the radial lock 216, a radialspring 704, the carrier 232, and a carrier radial locking surface 708.Radial locking prevents the carrier portion 204 (and the probe portion260, if coupled to the carrier portion 204), from rotating independentlyof the free end of the robotic arm 116B.

The radial spring 704 is installed between an interior surface of thelock tab retainer 208 and a bearing surface of the radial locking tab212. The radial spring 704 exerts outward force to the radial lockingtab 212 to force the tab 212 to laterally project from the side of thecarrier portion 204.

The radial lock 216 is rigidly coupled to the radial locking tab 212,and moves in concert with the radial locking tab 212. In one embodiment,the radial lock 216 is attached by fasteners or welded to the radiallocking tab 212. In another embodiment, the radial lock 216 and theradial locking tab 212 may be formed from the same piece of material.The radial lock 216 includes teeth that engage matching teeth of acarrier radial locking surface 708 when the radial locking tab 212 isnot pushed inward laterally by an outside force (see FIGS. 11-12 ).Therefore, when the carrier portion 204 is not engaged with a fixture804 (i.e. the radial locking tab 212 is not pushed in by the fixtureprojection 808), the carrier portion 204 is radially locked.

The carrier radial locking surface 708 is rigidly attached to the insidesurface of the carrier 232. In one embodiment, the carrier radiallocking surface 708 is a separate piece of material that is bonded orotherwise permanently attached to the inside surface of the carrier 232.In another embodiment, the carrier radial locking surface 708 is thesame material as the carrier 232, and is machined, milled or otherwiseformed as part of the carrier 232 itself. Radial “unlocking” allows therotation of the outside part of the carrier portion 260 while thecarrier 232 (and the ball bearing holes 308) remains aligned with theprobe 252. The rotation of the outside shell is what turns the lockingring 236, which drives the ball bearings 316.

Referring now to FIG. 8 , a diagram illustrating a fixture interface tothe separable robotic interface 800 in accordance with embodiments ofthe present invention is shown. FIG. 8 illustrates an exploded view ofthe principal components used in toolhead change operations. The probeportion 260, which includes the probe 252 and the common mount 248,directly interfaces with the fixture 804.

A static fixture 804 provides a docking point between the carrierportion 204 and the probe portion 260. The fixture 804 may include oneor more features that aid in capture, locking, and tool-free toolhead108, 120 replacement. In one embodiment, the fixture 804 may include apair of fixture jaws 816 that allow the probe portion 260 to be movedinto the jaws 816 or removed from the jaws 816. In the preferredembodiment, the fixture jaws 816 may include ramped lead-in to provideeasier access. The common mount 248 may include one or more flats 820(two are shown on opposite side of the common mount 248) that preventaxial and rotational movement of the common mount 248 when inserted intoand captured by the fixture 804. The fixture 804 may also include afixture projection 808 that extends toward a robotic arm 104. Thefixture projection 808 makes contact with the radial locking tab 212 andradially unlocks the common mount 204 when engaged with the tab 212. Inorder to minimize interference with the common mount 204 and radiallocking tab 212, a leading edge of the fixture projection 808 may alsobe ramped 812.

Referring now to FIG. 9 , an illustration depicting a toolhead assemblyto a fixture 900 in accordance with embodiments of the present inventionis shown. A toolhead assembly 904 may include a toolhead 108, a commonmount 248, and a probe 252 pre-assembled as a unified assembly.Therefore, any functional connections between the probe functionalinterface 412 and the toolhead 108 may already be present, and onlyrequire coupling to the carrier functional interface 504 and robotic arm104 to make the functional interface 124 operational.

The toolhead assembly 904 is moved into the jaws 816 in order to preparefor a separable robotic interface 112 mating operation (FIG. 14 ). Inone embodiment, the toolhead assembly 904 is manually moved into thefixture 804. In another embodiment, the toolhead assembly 904 is movedinto the fixture 804 by a robotic arm 104 or other means. For example, afirst robotic arm 104A may control a tool crib that populates orunpopulates one or more fixtures 804 with specific toolhead assemblies904 based on expected needs related to another robotic arm 104B. Theother robotic arm 104B then accesses (i.e. mounts and unmounts) toolheadassemblies 904 based on current need/mission.

In some embodiments, a toolhead assembly 904 may not be present, andonly a probe portion 260 may be secured within a fixture 804. Forexample, if a toolhead 108 must be manually attached to the common mount248, it may be more efficient to first mate the carrier portion 204 withthe probe portion 260, then later attach a selected toolhead 108 to thecommon mount 248.

Referring now to FIG. 10 , an illustration depicting axially aligning acarrier portion with a probe portion 1000 in accordance with embodimentsof the present invention is shown. Once a toolhead assembly 904 or aprobe portion 260 is secured within the fixture 804, a free end of arobotic arm 116B is maneuvered in order to approach the secured toolheadassembly 904 or probe portion 260.

The free end of the robotic arm 116B has been previously attached to acarrier portion 204. Once in proximity to the fixture 804, the free endof the robotic arm 116B may be moved vertically and/or horizontally inorder to axially align the carrier portion 204 to the probe portion 260.Also, the radial locking tab 212 may be aligned with the fixtureprojection 808 in order for the radial locking tab 212 to be depressedby the fixture projection 808 and ramp 812 when they make contact withthe radial locking tab 212.

Referring now to FIG. 11 , a diagram illustrating a carrier portionengaging a probe portion 1100 in accordance with embodiments of thepresent invention is shown. FIG. 11 illustrates a docking/matingsequence between the carrier portion 204 and probe portion 260 out ofthe fixture 804, but is illustrated with the interface shown separatelyto provide for clarity of the mated interface detail. In actuality, thetoolhead assembly 904 or probe portion 260 is fully captured within thefixture 804 during this step.

Once the carrier portion 260 is axially aligned with the probe portion260, and the radial locking tab 212 is aligned with the fixtureprojection 808/ramp 812, the robotic arm 104 moves the carrier portion204 so that it slides over the probe portion 260. The probe portion 260auto-centers within the carrier portion 260, and a distal end of theprobe 252 pushes against the plug 224 and plug spring 220.

While the carrier portion 204 is engaging the probe portion 260, theradial locking tab 212 engages the ramp 1104, which depresses the radiallocking tab 212. This, in turn, disengages the radial lock 216 from thecarrier radial locking surface 704, which disengages or deactivates theradial lock. By disengaging or deactivating the radial lock, the lockingring 236 is now free to rotate or turn.

Referring now to FIG. 12 , a diagram illustrating axial and radiallocking 1200 in accordance with embodiments of the present invention isshown. FIG. 12 illustrates both axially and radially locking the roboticarm 104/carrier portion 204 with the probe portion 260 or toolheadassembly 904.

With the probe 252 fully seated within the carrier portion 204 and theradial locking tab 212 depressed by the fixture projection 808/ramp 812,the separable robotic interface 112 is now ready to be completelylocked. This is performed by either clockwise or counterclockwiserotating the locking ring 236. The locking ring rotates in order toaxially and radially lock the separable robotic interface 1204. Axiallocking is described in FIGS. 4-6B, where the locking ring 236 forcesthe ball bearings 316 into the probe recesses 404. Radial unlocking isdescribed in FIGS. 7-9 . Radial locking occurs in FIG. 12 by rotatingthe locking ring 236. The locking ring 236 is radially coupled to thelock tab retainer 208, which captures the radial locking tab 212. As thelocking ring 236 rotates, the lock tab retainer 208 and radial lockingtab 212 rotate together. This causes the radial locking tab 212 to notbe depressed by the fixture projection 1208, and the radial spring 704causes the radial locking tab 212 to project from the side of thecarrier portion 212. This also causes the radial lock 216 to engage thecarrier radial locking surface 708, which radially locks the carrierportion 204. In this way, rotating the locking ring 236 both axially andradially locks the probe portion (and any attached toolhead 108), thecarrier portion 204, and the free end of the robotic arm 116B.

Referring now to FIG. 13 , a diagram of removing a toolhead andseparable interface from a fixture 1300 in accordance with embodimentsof the present invention is shown. Following axially and radiallylocking the toolhead assembly 904 or probe portion 260 to the carrierportion 204/robotic arm 104, the robotic arm 104 slides the toolhead andseparable interface out of the fixture 1304. At this point, the roboticarm 104 is free to move and use the separable robotic interface 112 andany attached toolhead 108.

Referring now to FIG. 14 , a flowchart illustrating a separableinterface mating process in accordance with embodiments of the presentinvention is shown. Flow begins at block 1404.

At block 1404, the probe portion 260 is captured within a fixture 804.Flow proceeds to block 1408.

At block 1408, a robotic arm 104 axially aligns a carrier portion 204with the probe portion 260. Flow proceeds to block 1412.

At block 1412, the robotic arm 104 slides the carrier portion 204 overthe probe portion 260. Flow proceeds to block 1416.

At block 1416, the fixture depresses a radial locking tab 212 toradially unlock the carrier portion 204. Flow proceeds to block 1420.

At block 1420, the probe portion 260 compresses a plug 224 in order torelease ball bearings 316. Flow proceeds to block 1428 and optionalblock 1424.

At optional block 1424, a functional interface 124 is engaged. A probeportion functional interface 412 mates with a carrier portion functionalinterface 504. Flow proceeds to block 1428.

At block 1428, the robotic arm 104 rotates a locking ring 236 of thecarrier portion 204. Flow proceeds to blocks 1432 and 1436.

At block 1432, the radial locking tab 212 releases from the fixture 804and radially locks the probe portion 260 to the carrier portion 204.Flow proceeds to block 1440.

At block 1436, the locking ring 236 forces ball bearings 316 into probeportion recesses 404 to axially lock the probe portion 260 to thecarrier portion 204. Flow proceeds to block 1440.

At block 1440, the robotic arm 104 laterally slides the separableinterface 112 and any attached toolhead 108 out of the fixture 804. Flowends at block 1440.

Referring now to FIG. 15 , a flowchart illustrating a separableinterface unmating process in accordance with embodiments of the presentinvention is shown. Flow begins at block 1504.

At block 1504, the robotic arm 104 moves a toolhead 108 coupled to afree end of the robotic arm 116B into proximity with a fixture 804. Flowproceeds to block 1508.

At block 1508, a distal joint of the robotic arm 104 rotates to cause aradial locking tab 212 to align with a fixture projection 808 and commonmount flats 820 to align with fixture jaws 816. Flow proceeds to block1512.

At block 1512, the robotic arm 104 laterally slides a separable roboticinterface 112 into the fixture 804. The common mount flats 820 arecaptured between the fixture jaws 816. Flow proceeds to block 1516.

At block 1516, the fixture projection 808 depresses the radial lockingtab 212 to disengage the radial lock. Flow proceeds to block 1520.

At block 1520, the distal joint of the robotic arm 104 rotates a lockingring 236 of the carrier portion 204 of the separable robotic interface112. Flow proceeds to block 1524.

At block 1524, the locking ring 236 relieves force on ball bearings 316into probe recesses 404. Flow proceeds to block 1528.

At block 1528, the robotic arm 104 moves the carrier portion 204 axiallyaway from the probe portion 260 to unmate the separable roboticinterface 112. Flow proceeds to block 1532.

At block 1532, in response to separating the probe portion 260 from thecarrier portion 204, the probe portion 260 decompresses the plug 224within the carrier portion 204. Flow proceeds to block 1540 and optionalblock 1536.

At optional block 1536, the functional interface 124, if present, isdisengaged. Therefore, any power, data, fluid, gas, mechanical, ormagnetic connections of the functional interface 124 are disconnectedbetween the probe portion functional interface 412 and the carrierportion functional interface 504. Flow proceeds to block 1540.

At block 1540, ball bearings 316 of the carrier portion 204 disengagefrom the probe portion recesses 404 to axially unlock the probe portion260 from the carrier portion 204. Flow proceeds to block 1544.

At block 1544, the robotic arm 104 separates the carrier portion 204from the probe portion 260, and is able to mate to a different probeportion 260/toolhead assembly 904. Flow ends at block 1544.

Finally, those skilled in the art should appreciate that they canreadily use the disclosed conception and specific embodiments as a basisfor designing or modifying other structures for carrying out the samepurposes of the present invention without departing from the spirit andscope of the invention as defined by the appended claims.

We claim:
 1. A separable robotic interface, comprising: a carrier portion, configured to attach to a free end of a robotic arm, comprising: a spring-loaded plug, coaxial with and arranged to slide lengthwise within the carrier portion; one or more ball bearings, arranged within holes of the carrier portion; an axial lock feature; and a spring-loaded tab that extends laterally from the carrier portion, wherein the tab is configured to radially unlock the carrier portion when depressed and radially lock the carrier portion when not depressed; and a probe portion, configured to be attached to a toolhead, comprising: a probe, comprising one or more recesses on lateral exterior surfaces of the probe, configured to receive the one or more ball bearings in order to axially lock the carrier portion to the probe portion in response to the probe portion inserted a predetermined distance into the carrier portion and the axial lock feature is activated, further configured to radially align with the carrier portion in response to an alignment feature engages the carrier portion.
 2. The separable robotic interface of claim 1, wherein the probe portion is configured to be rotated by the carrier portion in response to the tab is radially locked.
 3. The separable robotic interface of claim 2, wherein the axial lock feature comprises a locking ring, wherein the axial lock feature is activated comprises one of: manually depress the tab and turn the locking ring to force the ball bearings into the recesses; or in response to the tab is depressed, the robotic arm rotates the locking ring to move the ball bearings into the recesses.
 4. The separable robotic interface of claim 3, wherein the probe portion is captured within a fixture, wherein in response to the locking ring turned or rotated, the robotic arm is configured to remove the probe portion locked to the carrier portion from the fixture.
 5. The separable robotic interface of claim 4, wherein the fixture comprises a projection that depresses the tab to radially unlock the carrier portion, in response to the probe portion is captured within the fixture and the tab is aligned with the projection.
 6. The separable robotic interface of claim 2, wherein the probe portion further comprising: a common mount, coupled to the probe, configured to allow toolheads to be controlled by the robotic arm in response to the probe portion axially and radially locked to the carrier portion.
 7. The separable robotic interface of claim 6, wherein the toolheads comprises one or more of tools, materials, sensors, components, or grappling devices.
 8. The separable robotic interface of claim 6, further comprising a functional interface, wherein the probe portion comprises a probe functional interface and the carrier portion comprises a carrier functional interface, wherein in response to the probe portion inserted into the carrier portion the probe functional interface mates with the carrier functional interface.
 9. The separable robotic interface of claim 8, wherein in response to the probe functional interface mates with the carrier functional interface, the toolhead is configured to be controlled through the mated functional interface.
 10. The separable robotic interface of claim 9, wherein the mated functional interface comprises one or more of an electrical power interface, a data transfer interface, a fluid transfer interface, a gas transfer interface, or a mechanical force transfer interface. 